# UwbDistance (UORB message)

UWB distance contains the distance information measured by an ultra-wideband positioning system, such as Pozyx or NXP Rddrone.

[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/UwbDistance.msg)

```c
# UWB distance contains the distance information measured by an ultra-wideband positioning system,
# such as Pozyx or NXP Rddrone.

uint64  timestamp       # time since system start (microseconds)
uint32  time_uwb_ms     # Time of UWB device in ms
uint32  counter         # Number of Ranges since last Start of Ranging
uint32  sessionid       # UWB SessionID
uint32  time_offset     # Time between Ranging Rounds in ms
uint16  status          # status feedback #

uint16[12] anchor_distance  # distance in cm to each UWB Anchor (UWB Device which takes part in Ranging)
bool[12] nlos           # Visual line of sight yes/no
float32[12] aoafirst        # Angle of arrival of first incoming RX msg

float32[3] position     # Position of the Landing point in relation to the Drone (x,y,z in Meters NED)

```
